Photogrammetric image correlation and measurement system and method
First Claim
1. A method for characterizing a surface of an object comprising the steps of:
- projecting from a projector a plurality of images onto a surface desired to be characterized, the images comprising a first set of images and a second set of images distinguishable from the first set, each of the first and the second set of images having a corresponding source element having known two-dimensional coordinates relative to the projector;
determining a pose of a first and a second camera positioned in spaced relation from each other and in position to image at least a portion of the desired surface;
determining three-dimensional coordinates of at least some of the first set of images on the surface using the first and the second cameras;
calculating from the determined three-dimensional coordinates an initial pose of the projector;
matching each of the at least some of the first set of images with a corresponding source element;
determining from the matching step an improved pose of the projector. determining three-dimensional coordinates of at least some of the second set of images using the improved projector pose and the first and the second camera; and
characterizing the surface from the three-dimensional coordinates of the first and the second set of images.
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Accused Products
Abstract
A first and a second, distinguishable set of images are projected onto a surface, each image having a corresponding source element with known two-dimensional coordinates relative to the projector. A pose is determined of spaced two cameras in position to image at least a portion of the surface. The three-dimensional coordinates of at least some of the first set of images are determined with the cameras, from which are calculated an initial pose of the projector. Each of the at least some of the first set of images are matched with a corresponding source element, from which matching an improved projector pose is determined. The three-dimensional coordinates of at least some of the second set of images are determined using the improved projector pose and the cameras, and the surface is characterized from the three-dimensional coordinates of the first and the second set of images.
34 Citations
28 Claims
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1. A method for characterizing a surface of an object comprising the steps of:
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projecting from a projector a plurality of images onto a surface desired to be characterized, the images comprising a first set of images and a second set of images distinguishable from the first set, each of the first and the second set of images having a corresponding source element having known two-dimensional coordinates relative to the projector;
determining a pose of a first and a second camera positioned in spaced relation from each other and in position to image at least a portion of the desired surface;
determining three-dimensional coordinates of at least some of the first set of images on the surface using the first and the second cameras;
calculating from the determined three-dimensional coordinates an initial pose of the projector;
matching each of the at least some of the first set of images with a corresponding source element;
determining from the matching step an improved pose of the projector. determining three-dimensional coordinates of at least some of the second set of images using the improved projector pose and the first and the second camera; and
characterizing the surface from the three-dimensional coordinates of the first and the second set of images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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14. A system for characterizing a surface of an object comprising:
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a projector positionable in a pose;
means for projecting from the projector a plurality of images onto a surface desired to be characterized, the images comprising a first set of images and a second set of images distinguishable from the first set, each of the first and the second set of images having a corresponding source element having known two-dimensional coordinates relative to the projector;
a first and a second camera positioned in spaced relation from each other and in position to image at least a portion of the object surface;
means for determining a pose of the first and the second camera using at least some of the first set of images;
means for determining three-dimensional coordinates of at least some of the first set of images on the surface using the first and the second cameras;
means for calculating from the three-dimensional coordinates an initial pose of the projector;
means for matching each of the at least some of the first set of images with a corresponding source element;
means for determining from the matching an improved pose of the projector;
means for determining three-dimensional coordinates of at least some of the second set of images using the improved projector pose and the first and the second camera; and
means for characterizing the surface from the three-dimensional coordinates of the first and the second set of images.
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Specification